Practical stabilization of two-wheel mobile robot with velocity limitations using time-varying control law

Abstract

This paper presents a new time-varying kinematic algorithm ensuring practical stabilization for the regulation and trajectory tracking (for both admissible and non-admissible trajectories) problem applied to control of two-wheel mobile robot. This proposition is based on work done by W. Dixon et al. (2003) and P. Morin and C. Samson (2003). The significant part of the paper concentrates on choosing suitable accuracy of tracking in order to limit frequency of control signal and to improve quality of transient stage. Theoretical results are verified for regulation problem by extensive experimental work using real mobile robot and vision localization system with respect to the different values of input saturation.